CN113307154B - Combined monitoring method suitable for hoisting large-sized structure with small gap - Google Patents
Combined monitoring method suitable for hoisting large-sized structure with small gap Download PDFInfo
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- CN113307154B CN113307154B CN202110427185.4A CN202110427185A CN113307154B CN 113307154 B CN113307154 B CN 113307154B CN 202110427185 A CN202110427185 A CN 202110427185A CN 113307154 B CN113307154 B CN 113307154B
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- hoisting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a combined monitoring method suitable for small-gap hoisting of a large-sized structure, which is characterized in that a plurality of groups of mark lines are drawn in the circumferential direction of a hoisted object, so that the hoisted object is hoisted above a locating area, meanwhile, a total station emits laser to the hoisted object, and a crane is commanded to adjust the orientation of the hoisted object until the hoisting requirement is met according to the relative position of the laser and the mark lines; before the suspended object enters the small-gap hoisting area, a commander commands the crane to adjust the levelness of the suspended object according to the levelness of the suspended object displayed on the monitoring interface until the hoisting requirement is met, and continuously paying attention to the levelness of the suspended object in the subsequent lowering process; after the distance meter enters the monitoring height, a commander commands the crane to adjust the position of the hung object according to the relative position and the distance between the hung object and the surrounding structure on the monitoring interface until the hanging requirement is met.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a combined monitoring method suitable for hoisting large structures with small gaps.
Background
In the conventional large-scale structure hoisting process of ocean engineering, in order to hoist safety, the distance between a hoisted object and surrounding structures is generally designed to be more than 0.5 meter, and hoisting commanders can move, lower and locate after the hoisted object is hoisted by a command crane in a visual observation mode. However, in some small-gap and high-precision lifting processes, such as in the process of lifting a single point of an inner turret type of an FPSO (floating production, storage and offloading device) into a moon pool, the lifting gap is often less than 100 mm, and the lifting gap is insufficient to prepare to judge the position and the posture of a lifted object only by visual inspection, so that the risk of collision damage of the lifted object and surrounding structures can occur, and the lifted object is difficult to safely and smoothly hoist in place.
Disclosure of Invention
The present invention aims to solve the above technical problems to a certain extent.
In view of the above, the invention provides a combined monitoring method suitable for hoisting a large-sized structure with a small gap, and the method is used for avoiding collision or hoisting deviation between a hoisted object and a surrounding structure when the gap between the hoisted object and the surrounding structure is smaller in the hoisting process of the large-sized structure.
In order to solve the technical problems, the invention provides a combined monitoring method suitable for hoisting a large-sized structure with a small gap, which is characterized by comprising the following steps: s1: drawing a plurality of groups of marking lines in the circumferential direction of the suspended object to enable the suspended object to be suspended above the in-place area, simultaneously transmitting laser to the suspended object by the total station along the preset direction, commanding the crane to adjust the direction of the suspended object until the suspended object meets the hoisting requirement according to the relative position of the laser and the marking lines, and continuously paying attention to the direction of the suspended object in the subsequent lowering process; s2: before the suspended object enters the small-gap hoisting area, a commander commands the crane to adjust the levelness of the suspended object according to the levelness of the suspended object displayed on the monitoring interface until the hoisting requirement is met, and continuously paying attention to the levelness of the suspended object in the subsequent lowering process; s3: after the distance meter enters the monitoring height, a commander commands the crane to adjust the position of the hung object according to the relative position and the distance between the hung object and surrounding structures on the monitoring interface until the hanging requirement is met, and continuously paying attention to the position of the hung object in the subsequent descending process; s4: after the suspended object enters the small-gap hoisting area, a commander checks the hoisting gap according to the monitoring picture of the monitoring camera, and the suspended object is used as an auxiliary means of the measurement result to assist in hoisting command and decision.
Further, in the step S1: and drawing at least 2 groups of mark lines in the circumferential direction of the hung object, wherein the distance between the adjacent mark lines in the same group is not greater than the allowable hanging direction deviation distance of the hung object.
Further, in the step S2: the suspended object senses levelness through the double-shaft inclination sensor.
Further, in the step S2: and the crane is commanded to adjust the levelness of the lifted object to meet the preset requirement of lifting.
Further, in the step S3: the relative position and distance between the suspended object and surrounding structures are sensed by a laser ranging sensor, and the number of the laser ranging sensors is at least 2.
The invention has the technical effects that: by the combined monitoring method, the relative positions of the suspended objects and surrounding structures and the suspended object postures can be monitored in real time in the process of suspending the large-scale structure, and after monitoring information is obtained by suspending command personnel through a monitoring interface, the next suspending operation can be better decided, so that the problem that the suspended object postures cannot be accurately judged by visual observation is solved, and the suspending safety and success rate are improved compared with the conventional visual observation method.
Drawings
FIG. 1 is a schematic plan view of a cylindrical suspended object with irregular shape, on which 3 rangefinders are mounted, according to the present invention;
FIG. 2 is a side view of a rangefinder installation in accordance with the invention;
FIG. 3 is a diagram of a connection of a monitoring system of a rangefinder, an attitude meter, a wireless data station and antenna, a serial hub and a monitoring computer according to the present invention;
FIG. 4 is a schematic illustration of monitoring displayed on a monitoring computer in accordance with the present invention;
fig. 5 is a layout of total stations and marker lines for monitoring orientation according to the present invention.
Wherein, 1-distance meter; 2-hanging objects; 3-laser; 4-a mounting platform; 5-marking lines; 6-total station.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to limit the invention, so that those skilled in the art may better understand the invention and practice it.
As shown in fig. 1, 2, 3, 4 and 5, a combined monitoring method suitable for hoisting a large structure with a small gap comprises the following steps: s1: drawing a plurality of groups of marking lines 5 in the circumferential direction of the hung object 2, so that the hung object 2 is hung above a locating area, simultaneously, transmitting laser light 3 to the hung object 2 by the total station 6 along a preset direction, commanding the crane to adjust the direction of the hung object 2 until the hanging requirement is met according to the relative position of the laser light 3 and the marking lines 5, and continuously focusing on the direction of the hung object 2 in the subsequent descending process; s2: before the hung object 2 enters the small-gap hanging area, a commander commands the crane to adjust the levelness of the hung object 2 according to the levelness of the hung object 2 displayed on the monitoring interface until the hanging requirement is met, and continuously paying attention to the levelness of the hung object 2 in the subsequent lowering process; s3: after the distance meter 1 enters the monitoring height, a commander commands the crane to adjust the position of the hung object 2 according to the relative position and the distance between the hung object 2 and surrounding structures on the monitoring interface until the hanging requirement is met, and continuously paying attention to the position of the hung object 2 in the subsequent descending process; s4: after the suspended object 2 enters the small-gap hoisting area, a commander checks the hoisting gap according to the monitoring picture of the monitoring camera, and the suspended object is used as an auxiliary means of the measurement result to assist in hoisting command and decision.
According to the embodiment of the invention, the combined monitoring device suitable for hoisting large structures with small gaps comprises a ranging sensor (hereinafter referred to as a range finder 1), a biaxial inclination sensor (hereinafter referred to as a gesture meter), a wireless data transmission radio station, an antenna, a serial port concentrator, a monitoring computer, a total station 6 and a camera;
wherein, laser range finding sensor (hereinafter abbreviated as range finder 1): for measuring the distance from the position of the rangefinder 1 to the surrounding structure of the object 2 to be suspended. According to the appearance of the suspended object 2 and the surrounding structure, 3 distance meters 1 can be selectively placed in the circumferential direction of the suspended object 2, the offset direction and distance of the actual position of the centroid of the suspended object 2 relative to the theoretical center position are calculated according to the difference between the actual measured value and the theoretical measured value of each distance meter 1, and meanwhile, the gap between the suspended object 2 and the surrounding structure is calculated according to the appearance outline of the suspended object 2 and the surrounding structure. Parameters such as measurement accuracy, measurement interval and measurement distance of the distance meter 1 can be selected according to theoretical hoisting gap and hoisting accuracy requirements. If the shape of the structure around the hung object 2 is irregular, no proper laser 3 reflects the vertical surface, and a vertical distance measuring auxiliary plate can be installed on the structure around the hanging area.
Specifically, the distance meter 1 and the suspended object 2 are connected through the mounting platform 4.
Biaxial inclination sensor (hereinafter referred to as attitude gauge): is arranged on the hung object 2 and is used for measuring the levelness of the hung object 2 in two directions which are mutually perpendicular in the horizontal plane. Parameters such as measurement accuracy, measurement interval and the like of the attitude instrument can be selected according to the hoisting levelness requirement.
Radio data station and antenna: the sending part is arranged on the hung object 2, is connected with the distance meter 1 and the attitude meter, and transmits the measurement data of the distance meter 1 and the attitude meter to the receiving part through wireless signals; the receiving part is arranged in the hoisting command area, is used for receiving the wireless signal of the measurement data sent by the sending part and is connected to the serial port concentrator.
Serial port concentrator: the data signal is used for receiving the data signal of the receiving part of the wireless data transmission radio station, and the data signal is summarized and transmitted to the monitoring computer.
And (3) a monitoring computer: and a monitoring display interface is integrated on the monitoring computer, and the relative position and distance between the suspended object 2 and surrounding structures and the levelness of the suspended object 2 are displayed on the display interface.
Total station 6: for monitoring the orientation of the suspended object 2. According to the appearance of the hung object 2, 3 groups of marking lines 5 are drawn in the circumferential direction, each group of marking lines 5 consists of at least 3 marking lines with equal spacing, and the spacing between adjacent marking lines is not more than the allowable hanging direction deviation distance of the hung object 2. In the area around the location area, the total station 6 is placed in the same theoretical orientation as the middle line of each set of marker lines 5, the total station 6 being oriented towards the theoretical middle line of the marker lines 5 of the suspended object 2. After the total station 6 is in place, the position and orientation of the total station 6 is no longer changed. When in hoisting, the total station 6 emits laser 3 to the horizontal plane where the marking line 5 of the hoisted object 2 is located, the deviation of the direction of the hoisted object 2 is indicated according to the deviation of the laser 3 position and the middle marking line 5, and a hoisting commander commands the crane to adjust the direction of the hoisted object 2 according to the deviation until the laser 3 is hit in the range of the marking line 5. The marking lines 5 can be arranged in a plurality of groups from top to bottom on the hung object 2.
A camera head: is arranged on the position area or the hung object 2 and is used for monitoring the distance between the hung object 2 and surrounding structures.
In the hoisting process of a large-sized structure, the direction, the position, the levelness and the hoisting gap of the hoisted object 2 are monitored in real time, and are transmitted to the same display interface in real time through wireless signals, so that hoisting commander can check the position and the gesture of the hoisted object 2 in real time, and further hoisting instructions are made until the hoisting is completed.
In the hoisting process of the large-sized structure, the direction, the position, the levelness and the hoisting gap of the hoisted object are monitored in real time, and the directions, the positions, the levelness and the hoisting gaps of the hoisted object are transmitted to the same display interface in real time through wireless signals, so that hoisting commanders can check the positions and the postures of the hoisted object in real time, and further hoisting instructions are made according to the directions until the hoisting is completed. The method comprises the following mounting steps of:
1. according to the appearance characteristics of the suspended object, the number and the positions of the installed distance meters are selected on the suspended object, if the suspended object body has no proper position, a temporary distance meter installation platform can be installed, and the installation axis of the distance meters needs to coincide with the radius direction of the suspended object;
2. installing a range finder, re-measuring the installation position of the range finder after the range finder is installed, and correcting the monitoring result in the monitoring interface according to the re-measurement result;
3. selecting a horizontal plane of the suspended object, installing an attitude instrument, and correcting a measurement result of the attitude instrument after the attitude instrument is installed to ensure that the 0-degree angle of the attitude instrument is consistent with the horizontal plane of the suspended object;
4. a wireless data transmission radio sending part and an antenna are arranged on a hung object and are connected with a range finder and an attitude meter, and the installation position of the antenna meets the signal transmission requirement;
5. a temporary power supply is arranged on the suspended object and is connected with a range finder, an attitude meter and a wireless data transmission radio station;
6. a wireless data transmission radio receiving part and an antenna are arranged in the hoisting command area and are connected with a monitoring computer through a serial port hub;
7. drawing an orientation angle marking line on a hung object, and installing a total station in a hanging area;
8. installing a camera on the in-place area or the hung object, and transmitting the shot monitoring picture to a monitoring computer;
9. and testing the monitoring system.
The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (4)
1. The combined monitoring method suitable for hoisting large-sized structures in a small gap is characterized by comprising the following steps of:
s1: drawing a plurality of groups of marking lines in the circumferential direction of the suspended object to enable the suspended object to be suspended above the in-place area, simultaneously transmitting laser to the suspended object by the total station along the preset direction, commanding the crane to adjust the direction of the suspended object until the suspended object meets the hoisting requirement according to the relative position of the laser and the marking lines, and continuously paying attention to the direction of the suspended object in the subsequent lowering process;
s2: before the suspended object enters the small-gap hoisting area, a commander commands the crane to adjust the levelness of the suspended object according to the levelness of the suspended object displayed on the monitoring interface until the hoisting requirement is met, and continuously paying attention to the levelness of the suspended object in the subsequent lowering process;
s3: after the distance meter enters the monitoring height, a commander commands the crane to adjust the position of the hung object according to the relative position and the distance between the hung object and surrounding structures on the monitoring interface until the hanging requirement is met, and continuously paying attention to the position of the hung object in the subsequent descending process;
s4: after the suspended object enters the small-gap hoisting area, a commander checks the hoisting gap according to the monitoring picture of the monitoring camera, and the command is used as an auxiliary means for measuring the relative position and distance between the suspended object and surrounding structures on the monitoring interface in the step S3 to assist in hoisting command and decision;
the device used in the combined monitoring method comprises a ranging sensor (1), a double-shaft inclination sensor, a wireless data transmission radio station, an antenna, a serial port concentrator, a monitoring computer, a total station (6) and a camera;
wherein, laser ranging sensor (1): the method comprises the steps of measuring the distance from the position of a laser ranging sensor (1) to the surrounding structure of a hung object (2), selecting and placing 3 laser ranging sensors (1) in the circumferential direction of the hung object (2) according to the shapes of the hung object (2) and the surrounding structure, calculating the offset direction and the distance of the actual position of the centroid of the hung object (2) relative to the theoretical center position according to the difference between the actual measured value and the theoretical measured value of each laser ranging sensor (1), and calculating the gap between the hung object (2) and the surrounding structure according to the shapes of the hung object (2) and the surrounding structure; the shape of the structure around the hung object (2) is irregular, no proper laser (3) reflects a vertical surface, and a vertical distance measuring auxiliary plate is arranged around the structure around the hanging area; the distance meter 1 is connected with the hung object 2 through the mounting platform (4); the double-shaft inclination sensor is arranged on the hung object (2) and is used for measuring levelness of the hung object 2 in two directions perpendicular to each other in a horizontal plane;
radio data station and antenna: the sending part is arranged on the hung object (2), is connected with the laser ranging sensor (1) and the attitude meter, and transmits the measurement data of the laser ranging sensor (1) and the attitude meter to the receiving part through wireless signals; the receiving part is arranged in the hoisting command area and is used for receiving the wireless signal of the measurement data sent by the sending part and is connected to the serial port concentrator;
serial port concentrator: the data signal receiving part is used for receiving the data signal of the wireless data transmission radio station and transmitting the data signal to the monitoring computer after summarizing;
and (3) a monitoring computer: the monitoring computer is integrated with a monitoring display interface, and the relative position and distance between the suspended object 2 and surrounding structures and the levelness of the suspended object 2 are displayed on the display interface;
total station (6): the method comprises the steps of monitoring the orientation of a hung object (2), drawing 3 groups of marking lines (5) in the circumferential direction of the hung object (2) according to the appearance of the hung object (2), wherein each group of marking lines (5) consists of at least 3 equally-spaced marking lines, the spacing between adjacent marking lines is not larger than the allowable hoisting orientation deviation distance of the hung object (2), placing a total station (6) in the surrounding area of a locating area, which is the same as the theoretical orientation of the middle line of each group of marking lines (5), the total station (6) faces the theoretical middle line of the marking lines (5) of the hung object (2), after the total station (6) is installed in place, the position and the orientation of the total station (6) are not changed, and when the hung object (2) is hoisted, the total station (6) emits laser (3) to the horizontal plane where the marking lines (5) of the hung object (2) are located, and according to the deviation between the position of the laser (3) and the middle marking lines (5), indicating the orientation deviation of the hung object (2), and commanding a command machine to adjust the orientation of the hung object (2) according to the deviation until the deviation command machine reaches the marking line (5), and the position of the laser (3) can be arranged on the hung object (2) in the range from the marking line (5) to be placed below the upper part of the marked object (2);
a camera head: is arranged on the in-place area or the hung object (2) and is used for monitoring the distance between the hung object (2) and surrounding structures.
2. The combined monitoring method for small-gap hoisting of large structures according to claim 1, wherein in step S1: at least 2 groups of marking lines are drawn on the circumferential direction of the hung object, and the distance between the adjacent marking lines in the same group is not larger than the allowable hanging direction deviation distance of the hung object.
3. The combined monitoring method for small-gap hoisting of large structures according to claim 1, wherein in step S2: the suspended object senses levelness through the double-shaft inclination sensor.
4. The combined monitoring method for small-gap hoisting of large structures according to claim 1, wherein in step S3: the relative position and distance between the suspended object and surrounding structures are measured by a laser ranging sensor, and the number of the laser ranging sensors is at least 2.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101670980A (en) * | 2009-09-01 | 2010-03-17 | 中国石油化工集团公司 | Device for dynamically measuring distance between hoisted article and hoisting arm in high-altitude hoisting process |
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| US7848861B2 (en) * | 2007-08-23 | 2010-12-07 | Edw. C. Levy Co. | Method and apparatus for providing diagnostics of a lifting magnet system |
| CN103466038B (en) * | 2013-08-30 | 2016-01-20 | 中国海洋石油总公司 | A kind of FPSO single-point cone buoy inner connection tube replacing options |
| CN103546001B (en) * | 2013-11-11 | 2016-01-13 | 中国水利水电第七工程局有限公司 | A kind of hydraulic generator rotor lifting positioner and localization method thereof |
| CN106395628B (en) * | 2015-11-30 | 2018-01-26 | 中国化学工程第三建设有限公司 | A kind of method of the aerial group pair of heavy tower equipment segmental hoisting |
| CN107091613A (en) * | 2017-06-02 | 2017-08-25 | 云峰发电厂 | The big part of hydrogenerator is installed, dismantles the accurate measurement in position in hoisting process and alarm method |
| CN110080236B (en) * | 2019-05-10 | 2020-08-28 | 西南石油大学 | But device is transferred to cyclic utilization steel reinforcement cage who hangs muscle |
| CN110526120B (en) * | 2019-08-01 | 2020-10-20 | 国网浙江省电力有限公司紧水滩水力发电厂 | Vertical hydraulic generator rotor hoisting auxiliary device and hoisting method |
| CN210736017U (en) * | 2019-10-22 | 2020-06-12 | 兰州理工大学 | Hydroelectric set rotor hoist and mount auxiliary assembly |
| CN112537722B (en) * | 2020-12-04 | 2022-07-19 | 国网山东省电力公司昌乐县供电公司 | Auxiliary hoisting positioning device and hoisting positioning method for wind power tower cylinder |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670980A (en) * | 2009-09-01 | 2010-03-17 | 中国石油化工集团公司 | Device for dynamically measuring distance between hoisted article and hoisting arm in high-altitude hoisting process |
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